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This paper proposes a method that uses model-error feedback to improve the steady-state performance of a communication disturbance observer (CDOB) and a controller design based on the stability theorem with a Lyapunov-Krasovskii functional. The conventional CDOB faces the problem of a steady-state error due to model error, and the stability of a system with time-varying delay is not guaranteed. To solve the issue, the controller based on the mixed H2/H∞ control problem is introduced. The paper presents a solution that uses a controller design based on the Lyapunov stability theorem and model error feedback.

ieej journal of industry applications

Model-Error Feedback for Systems with Time-Varying Delay Based on Mixed &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;2&lt;/sub&gt;/&lt;i&gt;H&lt;/i&gt;&lt;sub&gt;∞&lt;/sub&gt; Control